Modeling and control of a reaction wheel inverted pendulum using full-state pole placement approach

Abstract

The application of control system theories has had a significant impact on dynamic systems for many years. Under-actuated systems are considered one of the most challenging topics in control theory, where researchers have spent years trying to understand the behavior of these systems and develop appropriate control approaches. Inverted Pendulum (IP) systems are commonly studied in control systems as bench mark problems to compare different control methods. Various IP types are studied, such as rotary, multiple-link, flexible, and Reaction Wheel Inverted Pendulum (RWIP) systems. This research focuses on RWIP. This study designs and models an RWIP using state-space representation. A stability analysis is performed to study the behaviors of the system. A linear control approach is employed to regulate the pendulum’s behavior and ensure its stability. To achieve this, a control approach is considered a full-state pole placement controller. MATLAB/Simulink is used to simulate the system’s dynamics and provide different results.